Learning Control as Enabling Layer for Embodied Intelligence Research explored with Soft Robotic Swimming in diverse Flow Speeds (opens in new tab)

Soft robots are valuable robophysical platforms for studying body-caudal undulatory locomotion, but their compliant bodies are difficult to control precisely under changing hydrodynamic loading. Conventional proportional-integral-derivative (PID) feedback stabilizes periodic undulation in static water, but can accumulate flow-dependent tracking delay and increasing inter-trial variability when environmental flow becomes non-trivial. Here, we eva...